The Mules (6-10, 4-6) led by as many as eight points early on, but the Bears (11-6, 7-3) ended the first half on a 24-5 run to open up a 44-33 lead at the break.
Muhlenberg scored the first nine points of the second half and stayed within striking distance the rest of the way. From the 14-minute mark to the four-minute mark, the Mules cut the gap to one or two points six times, but each time Ursinus had an answer.
The Bears were up, 73-68, with 3:39 left, before Muhlenberg finally put together consecutive baskets. Sophomore Jimmy O’Brien made three straight layups in the next minute, giving the Mules a 74-73 lead.
Dennis Stanton, who entered as the leading scorer in Division III at 30.1 points per game, dribbled around and hit a tough three-pointer with 2:12 on the clock to put Ursinus up, 76-74. Three more points from O’Brien and a pair of free throws by Stanton made it a one-point game, 78-77, in the final minute.
Bear point guard Mike McGarvey clinched the game by driving in for a three-point play, then stealing the ball at midcourt and making two free throws. Ursinus added a late basket for the final margin.
O’Brien finished with a career-high 29 points, one more than Stanton. He also had 13 rebounds for his second double-double. Freshman Jeff Stewart also notched a double-double with 11 points and 10 rebounds, and junior Chase Licata barely missed a double-double, recording 10 points and nine rebounds before leaving with an injury midway through the second half. Muhlenberg had a 43-28 advantage on the boards.
Junior Ryan Bonda made four of six three-point attempts en route to 14 points.
McGarvey was superb for Ursinus, scoring 22 points to go along with 10 assists and five steals.